*

lsh

6 天以前 f287ab5ee6b9938e0d48cdb62c05078bdec463d8

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -13,7 +13,6 @@
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
@@ -24,16 +23,12 @@
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -74,31 +69,21 @@
    private TaskWrkService taskWrkService;
    @Autowired
    private StaDescMapper staDescMapper;

    @Autowired
    private StaDescService staDescService;

    @Autowired
    private ApiLogService apiLogService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private BasRgvService basRgvService;
    @Autowired
    private WrkMastStaMapper wrkMastStaMapper;
    @Autowired
    private BasRgvMapMapper basRgvMapMapper;
    private CrnController crnController;

    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wms.inboundTaskApplyPath}")
    private String inboundTaskApplyPath;
    @Value("${wms.movePath}")
    private String movePath;
    @Value("${wms.taskStatusFeedbackPath}")
    private String taskStatusFeedbackPath;
    @Autowired
    private CrnController crnController;

    @Value("${wms.rgvOpen}")
    private boolean rgvOpen;
@@ -112,10 +97,8 @@
    @Value("${constant-parameters.trackProportion}")
    private Long trackProportion;

    public void generateStoreWrkFile() throws IOException, InterruptedException {
    public void generateStoreWrkFile() {
        try {


            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历入库口
@@ -387,7 +370,6 @@
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }


    /**
     * 堆垛机站出库到出库站
@@ -1117,1092 +1099,8 @@
            if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
                taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
            }

//        } else if (param.getIoType() == 2) {
//            taskWrk.setWrkSts(11);
//            if (!Cools.isEmpty(param.getStartPoint())) {
//                taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点
//                taskWrk.setOriginStartPoint(param.getStartPoint());
//            }
//            taskWrk.setTargetPoint(param.getTargetPoint());
//        }else if (param.getIoType() == 3){
//            taskWrk.setWrkSts(11);
//            if (!Cools.isEmpty(param.getStartPoint())) {
//                taskWrk.setStartPoint(param.getStartPoint());//起点
//                taskWrk.setOriginStartPoint(param.getStartPoint());
//            }
        }
        return taskWrk;
    }
    /**
     *  完成小车任务
     */
    public synchronized void rgvCompleteWrkMastSta() {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) ||
                        (rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
                ) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
                        if (rgvProtocol.getTaskNo1()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            }
                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                       /* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                            if (staProtocol == null) {
                                continue;
                            } else {
                                staProtocol = staProtocol.clone();
                            }
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
                            }
                            log.error("小车任务完成下发输送线任务："+staProtocol);
//                            try{
//                                Thread.sleep(1000);
//                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
//                                StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
//                                log.error("小车任务完成读取输送线任务："+staProtocolEnd);
//                                if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
//                                    staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
//                                    staProtocolEnd.setStaNo(wrkMast.getStaNo());
//                                    if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
//                                        continue;
//                                    }
//                                    log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
//                                }
//                            }catch (Exception e){
//
//                            }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
                        if (rgvProtocol.getTaskNo2()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            }
                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                        /*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)  && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
                            }
                            log.error("小车任务完成下发输送线任务："+staProtocol);
//                            try{
//                                Thread.sleep(1000);
//                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
//                                StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
//                                log.error("小车任务完成读取输送线任务："+staProtocolEnd);
//                                if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
//                                    staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
//                                    staProtocolEnd.setStaNo(wrkMast.getStaNo());
//                                    if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
//                                        continue;
//                                    }
//                                    log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
//                                }
//                            }catch (Exception e){
//
//                            }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else {
                        log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
                    }
                }
            }
        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }
    /**
     * 入出库  ===>>  小车作业下发
     */
    public synchronized boolean rgvIoExecute(Integer sign) {
        boolean rgvIoExecuteSign = false;
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                // 获取小车信息
                boolean signWork = false;
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                ) {
                    switch (sign){
                        //执行小车货物搬运任务
                        case 1:
                            signWork = rgvRunWrkMastFullSta(rgvSlave);
                            break;
                        //执行小车空板搬运任务
                        case 2://放//拆盘
                            signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                            break;
                        case 3://满放
                            signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                            break;
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
                            break;
                        case 6:////提升
//                            signWork = qwe();
                            break;
                        default:
                            break;
                    }
                    for (int signCount = 1;!signWork && signCount<7;signCount++){
                        switch (signCount){
                            case 1://执行小车货物搬运任务
                                signWork = rgvRunWrkMastFullSta(rgvSlave);
                                break;
                            case 2://放//拆盘
                                signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                                break;
                            case 3://满放
                                signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                                break;
                            case 4://取叠盘
                                signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
                                break;
                            case 6:////提升
//                            signWork = rgvRunWrkMastEmptyStaPut();
                                break;
                            default:
                                break;
                        }
                    }
                }else {
                    continue;
                }
                if (!rgvIoExecuteSign){
                    rgvIoExecuteSign = signWork;
                }
            }
//            if (!rgvIoExecuteSign){
//                if (sign>6){
//
//                }
//            }
        }catch (Exception e){
            log.error("RGV小车任务下发报错"+e);
        }
        return rgvIoExecuteSign;
    }

    /**
     * 执行小车搬运任务
     */
    public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return false;
            }
            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                return false;
            }

            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
                }
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                        continue;
                    }
                    BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                    if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                        continue;
                    }
                    Date date = new Date();

                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                    if (staProtocol == null) {
                        log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                        continue;
                    }
                    if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                        continue;
                    }
                    if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                        if (staProtocol.isLoadingSuper()){
                            continue;
                        }
                    }
                    if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                        if (!staProtocol.isEmptyMk()){
                            continue;
                        }
                    }
                    BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
                    if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
                        continue;
                    }
                    StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
                    if (staProtocols == null) {
                        log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                        continue;
                    }
                    if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
                        continue;
                    }


                    log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
                    log.info(date+"取放任务下发：目标站状态："+basDevp);
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
                    if (sign){
                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                        if (signMap){
                            wrkMastSta.setWrkSts(1);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            return true;
                        }else {
                            log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
                    }else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
//            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
        return false;
    }
    /**
     * 执行小车搬运任务//拆盘
     */
    public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return false;
            }
            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                return false;
            }

            // 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                    && (rgvProtocol.getLoaded2()==3  || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物 （只能拆叠） ；2一层有物二层无物() ；3  1、2层都有物  4：（）只允许拆盘
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
                }
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                        continue;
                    }
                    boolean sign = false;
                    if ( wrkMastSta.getStaEnd()!=0){//放
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                            continue;
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"拆盘任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (staProtocol.isLoadingSuper()){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!staProtocol.isEmptyMk()){
                                continue;
                            }
                        }

                        log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"拆盘任务下发：目标站状态："+basDevp);
                        sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
                    }else {
                        continue;
                    }
                    if (sign){
                        boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                        if (signMap){
                            wrkMastSta.setWrkSts(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            return true;
                        }else {
                            log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
                    }else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
//            }
        }catch (Exception e){
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
        }
        return false;
    }

    /**
     * 执行小车搬运任务
     */
    public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return false;
            }
            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                return false;
            }

            // 只有当RGV空闲、自动,工位二有物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                    &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
                }
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放  7:提升
                        continue;
                    }
                    boolean sign = false;
                    if ( wrkMastSta.getStaEnd()!=0){//满放
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                            continue;
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"满放任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (staProtocol.isLoadingSuper()){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!staProtocol.isEmptyMk()){
                                continue;
                            }
                        }

                        log.info(date+"满放任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"满放任务下发：目标站状态："+basDevp);
                        sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                    }else {
                        continue;
                    }
                    if (sign){
                        boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                        if (signMap){
                            wrkMastSta.setWrkSts(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            return true;
                        }else {
                            log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
                    }else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
//            }
        }catch (Exception e){
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
        }
        return false;
    }

    public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//叠盘
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return false;
            }
            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                return false;
            }

            // 只有当RGV空闲、自动,工位二无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                    &&  (rgvProtocol.getLoaded2()==0  || rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
                }
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                        continue;
                    }
                    boolean sign = false;
                    if ( wrkMastSta.getStaStart()!=0){//取
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
                        if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                            continue;
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"叠盘任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                            continue;
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!staProtocol.isEmptyMk()){
                                continue;
                            }
                        }

                        log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"叠盘任务下发：目标站状态："+basDevp);
                        sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
                    }else {
                        continue;
                    }
                    if (sign){
                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                        if (signMap){
                            wrkMastSta.setWrkSts(1);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            return true;
                        }else {
                            log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
                    }else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
//            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
        }
        return false;
    }

    /*
     * 有任务但未执行  此时需要调整小车位置
     * */
    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
        try{
//            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
//            if (integer==0){
//                return;
//            }
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
            if (Cools.isEmpty(wrkMastSta)){
                return;
            }
            boolean signRgv = true;
            boolean signRgv1 = true;
            boolean signRgv2 = true;
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && rgvProtocol.getTaskNo1()==0
                        && rgvProtocol.getTaskNo2()==0
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
                    if (rgvProtocol.getRgvNo()!=1){
                        if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
                            continue;
                        }
                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
//                        return;
                        continue;
                    }
                    if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) &&  !rgvProtocol.getRgvPosI().equals(119)){
                        continue;
                    }
                    Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
                    if (count108Y!=0){
                        continue;
                    }
//                    Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
//                    if (count108!=0){
//                        continue;
//                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    continue;
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
//                    if (!wrkMastStaList.isEmpty()){
//                        log.info("小车存在可执行任务，跳过避让！！4214");
//                        return;
//                    }
//                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
////                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
////                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
//                        if (rgvProtocol.getRgvNo()==1){
//                            signRgv1 = false;
//                        }else {
//                            signRgv2 = false;
//                        }
//                    }
//                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
//                        signRgv1 = false;
//                        continue;
//                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
//                        signRgv2 = false;
//                        continue;
//                    }
                }else {
                    signRgv = false;
                    break;
                }
            }
//            if (signRgv &&  (signRgv1 || signRgv2)){
//                for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
//                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                    if (rgvProtocol == null) {
//                        continue;
//                    }
//
//                    // 只有当RGV空闲、自动,工位一无物//rgv可用
//                    if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
//                            && rgvProtocol.getModeType() == RgvModeType.AUTO
//                            && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
//                            && rgvProtocol.getTaskNo1()==0
//                            && rgvProtocol.getTaskNo2()==0
//                            && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
//                            && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
//                    ) {
//                        if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
//                            continue;
//                        } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
//                            continue;
//                        }
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
//                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
//
//                    }
//                }
//            }
        }catch (Exception e){
            log.error("4109行执行小车初始化任务下发失败");
            log.error("4109行"+e);
        }
    }

    /*
     * 刷新地图数据
     * */
    public synchronized void refreshRgvMap() {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && rgvProtocol.getTaskNo1()==0
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                }
            }
        }catch (Exception e){
            log.error("4109行执行小车初始化任务下发失败");
            log.error("4109行"+e);
        }
    }

    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
        if (rgvId==1){
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1( (short)104);
                rgvCommand.setCommand((short) 1);   //工位1任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)114);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }
    }


    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车放货至输送线任务
     * */
    public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车取空板至工位任务  叠盘
     * */
    public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式:  取货
            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //工位2起点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车放空板至输送线任务   //拆盘
     * */
    public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式:  放货
            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //工位2目标站点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车取空板至工位任务  满取
     * */
    public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式:  满取
            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //工位2起点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车放空板至输送线任务   //满放
     * */
    public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.PUT_6); // 工位2任务模式:  满放
            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //工位2目标站点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车复位
     * */
    public synchronized boolean rgvComplete(Integer rgvId){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}",rgvId);
                return false;
            } else {
                log.info("RGV命令下发成功，RGV号={}",rgvId);
                return true;
            }
        }catch (Exception e){
            log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
            return false;
        }
    }

    /*
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
        if (rgvOpen){
            return true;
        }

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
        //更新当前小车锁
        try{
            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
//            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
            basRgvMapCurrent.setLockEndRoute(fallMerge);
            basRgvMapMapper.updateById(basRgvMapCurrent);

            //更新另一台小车地图
            Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
            Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置
            basRgvMapOther.setEndRoute(lockEndRouteL);
            basRgvMapMapper.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){
            log.error("小车地图更新出错！");
            return false;
        }
    }

}